Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 309
milliseconds.
Remarks
This command causes PMAC to keep the command positions of all axes in the
coordinate system constant (no movement) for the time specified in {data}.
There are three differences between DELAY and DWELL. First, if DELAY comes after a
blended move, the TA deceleration time from the move occurs within the DELAY time,
not before it. Second, the actual time for DELAY does varies with a changing time base
(current %value, from whatever source), whereas DWELL always uses the fixed time base
(%100). Third, PMAC precomputes upcoming moves (and the lines preceding them)
during a DELAY, but it does not do so during a DWELL.
A DELAY command is equivalent to a zero-distance move of the time specified in
milliseconds. As for a move, if the specified DELAY time is less than the acceleration
time currently in force (TA or 2*TS), the delay will be for the acceleration time, not the
specified DELAY time.
Example
DELAY750
DELAY(Q1+100)
See Also
Time-Base Control (Synchronizing PMAC to External Events)
I-variables I10, Ix87, Ix88
On-line command %{constant}
Program commands DWELL, TA, TS
DISABLE PLC
Function
Disable PLC Program(s)
Type
Motion program (PROG or ROT), PLC program
Syntax
DISABLE PLC {constant}[,{constant}...]
DIS PLC {constant}[,{constant}...]
DISABLE PLC {constant}[..{constant}]
DIS PLC {constant}[..{constant}]
where:
• {constant} is an integer from 0 to 31, representing the program number.
Remarks
This command causes PMAC to disable (stop executing) the specified uncompiled PLC
program or programs. Execution can subsequently be resumed at the top of the program
with the ENABLE PLC command. If it is desired to restart execution at the stopped
point, execution should be stopped with the PAUSE PLC command, and restarted with
the RESUME PLC command.
Execution of a PLC program can only be disabled at the end of a scan, which is either the
end of the program, or after executing an ENDWHILE statement in the program. (A PLC
program can be paused in the middle of a scan, however.)
PLC programs are specified by number, and may be specified in a command singularly,
in a list (separated by commas), or in a range of consecutively numbered programs.
If no buffer is open when this command is sent to PMAC, it will be executed
immediately as an on-line command.
Example
DISABLE PLC 1
DISABLE PLC 4,5
DISABLE PLC 7..20
DIS PLC 3,8,11
DIS PLC 0..31